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vtol_att_control: Consolidate logic for front transiton completion (#21107)

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* vtol_att_control: consolidate logic for front transiton completion

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* addressed review comments

Signed-off-by: RomanBapst <bapstroman@gmail.com>

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2023-02-24 15:52:27 +03:00
committed by GitHub
parent 4259b5adac
commit 33b54f7c57
7 changed files with 64 additions and 57 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+6 -19
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@@ -134,25 +134,7 @@ void Tiltrotor::update_vtol_state()
break;
case vtol_mode::TRANSITION_FRONT_P1: {
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_param_fw_arsp_mode.get() ;
bool transition_to_p2 = false;
if (_time_since_trans_start > getMinimumFrontTransitionTime()) {
if (airspeed_triggers_transition) {
transition_to_p2 = _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_trans.get() ;
} else {
transition_to_p2 = _tilt_control >= _param_vt_tilt_trans.get() &&
_time_since_trans_start > getOpenLoopFrontTransitionTime();
}
}
transition_to_p2 |= can_transition_on_ground();
if (transition_to_p2) {
if (isFrontTransitionCompleted()) {
_vtol_mode = vtol_mode::TRANSITION_FRONT_P2;
resetTransitionStates();
}
@@ -526,3 +508,8 @@ float Tiltrotor::moveLinear(float start, float stop, float progress)
{
return start + progress * (stop - start);
}
bool Tiltrotor::isFrontTransitionCompletedBase()
{
return VtolType::isFrontTransitionCompletedBase() && _tilt_control >= _param_vt_tilt_trans.get();
}